As an emerging technology, autonomous Unmanned Vehicle Systems (UVS) have found not only many military applications, but also various civil applications. For example, Google, Amazon and Facebook are developing their UVS plans to explore new markets. However, there are still a lot of challenging problems which deter the UVS’s development. We study two important and challenging problems in this dissertation, i.e. localization and 3D reconstruction. Specifically, most GPS based localization systems are not very accurate and can have problems in areas where no GPS signals are available. Based on the Received Signal Strength Indication (RSSI) and Inertial Navigation System (INS), we propose a new hybrid localization system, which is very efficient and can account for dynamic communication environments. Extensive simulation results demonstrate the efficiency of the proposed localization system. Besides, 3D reconstruction is a key problem in autonomous navigation and hence very important for UVS.With the help of high-speed Internet and powerful cloud servers, the light-weight computers on the UVS can now execute computationally expensive computer vision based algorithms. We develop a 3D reconstruction scheme which employs cloud computing to perform realtime 3D reconstruction. Simulations and experiments show the efficacy and efficiency of our scheme.

The limnological knowledge of waters in arid regions, especially Mongolia, is still insufficient. It was the goal of the Mongolian-German research project “Limnological Particularities of Characteristic Waterbodies in the Uvs Nuur Basin” to develop a systematic inventory of waters, describe their morphological, hydrophysical, chemical and biological characteristics and to generalize the framework of abiotic and biotic factors that determine their character. During the field work, carried out from 1996 to 1999, samples of water, sediments, benthic and planktonic biota were taken from 76 places at 15 stagnant water bodies, 21 streams and several groundwater bodies; morphological, hydrological, physical and hydrochemical measurements were made. Chemical and biological analyses were carried out in Germany. The most important taxonomical groups were determined by German and international specialists. The results of the work are presented and discussed separately for running waters, lakes and groundwater. Based on these findings, several general topics are dealt with: factors shaping the character of water bodies, food webs, biogeography, spatial sequence of water bodies, typology and protection issues. A checklist of 596 taxa was compiled; 109 additional taxa from the Russian and Mongolian literature were included. Two species (Cyclops glacialis Flößner 2001 and Acanthocorbis mongolica Paul 2011) were new for the science and 103 species were new reports for Mongolia. A regional stream typology with 11 different types was developed using the criteria ecoregion, altitude and catchment area. The typology developed for stagnant waters comprises 9 types based on altitude, lake area, existence of an outflow and relative depth. This dissertation comprises 139 pages and an appendix of 59 pages, 50 tables, 94 figures and a map.

The limnological knowledge of waters in arid regions, especially Mongolia, is still insufficient. It was the goal of the Mongolian-German research project “Limnological Particularities of Characteristic Waterbodies in the Uvs Nuur Basin” to develop a systematic inventory of waters, describe their morphological, hydrophysical, chemical and biological characteristics and to generalize the framework of abiotic and biotic factors that determine their character. During the field work, carried out from 1996 to 1999, samples of water, sediments, benthic and planktonic biota were taken from 76 places at 15 stagnant water bodies, 21 streams and several groundwater bodies; morphological, hydrological, physical and hydrochemical measurements were made. Chemical and biological analyses were carried out in Germany. The most important taxonomical groups were determined by German and international specialists. The results of the work are presented and discussed separately for running waters, lakes and groundwater. Based on these findings, several general topics are dealt with: factors shaping the character of water bodies, food webs, biogeography, spatial sequence of water bodies, typology and protection issues. A checklist of 596 taxa was compiled; 109 additional taxa from the Russian and Mongolian literature were included. Two species (Cyclops glacialis Flößner 2001 and Acanthocorbis mongolica Paul 2011) were new for the science and 103 species were new reports for Mongolia. A regional stream typology with 11 different types was developed using the criteria ecoregion, altitude and catchment area. The typology developed for stagnant waters comprises 9 types based on altitude, lake area, existence of an outflow and relative depth. This dissertation comprises 139 pages and an appendix of 59 pages, 50 tables, 94 figures and a map.:Acknowledgments ii Abstract iii List of Tables iii List of Figures vi 1 Introduction 1 1.1 Significance of the investigations 1 1.2 Aims of the investigations 2 1.3 Sequence of field research activities 3 1.4 Area of investigation 4 1.4.1 Topographic situation and morphology .4 1.4.2 Climate 5 1.4.3 Geology and soils 9 1.4.4 Vegetation 10 1.4.5 Population and economy 10 1.4.6 Former limnological investigations in the Uvs Nuur Basin 11 1.4.7 Short description of the investigated waters 12 2 Methods 15 2.1 Sampling 15 2.2 Field measurements 16 2.3 Laboratory analyses and data evaluation 19 3 Results and discussion 26 3.1 Rivers 26 3.1.1 Morphology and hydrology 26 3.1.2 Runoff dynamics 34 3.1.3 Water temperature and freezing 38 3.1.4 Chemical properties 39 3.1.5 Aquatic biota 43 3.2 Lakes 53 3.2.1 Formation and morphometry 53 3.2.2 Water level changes and water balance 58 3.2.3 Temperature and overturn dynamics of the water body 63 3.2.4 Vertical gradients of physico-chemical parameters and chlorophyll 65 3.2.5 Horizontal gradients in Uvs Nuur: surface temperature and suspended matter 69 3.2.6 Salinity and ionic composition 71 3.2.7 Nutrients and trophic state 74 3.2.8 Sediments 79 3.2.9 Aquatic biota 83 3.3 Groundwater 95 3.3.1 Hydrology 95 3.3.2 Chemical composition 96 3.3.3 Biota 98 4 Conclusions and synthesis 99 4.1 Exogenous factors influencing the character of water bodies 99 4.1.1 Biological structure of running waters 100 4.1.2 Biological structure of lakes 104 4.2 Food webs 105 4.3 Biogeographical classification 110 4.4 Spatial sequence of water bodies and material flows 113 4.5 Transformation of the water bodies 116 4.6 Typology of water bodies 117 4.7 Protection of landscape and waters 121 5 Literature 124 6 Appendices 140 6.1 Tables 140 6.2 Cross sections and longitudinal profiles of rivers 169 6.3 Microscopical images of algal species 175 6.4 Satellite images 179 6.5 Photographs of sampled waters 182

This project has investigated and described a new ultrasonic, piezoelectrical, cylindrical "shaking beam" type actuator, meant for production of a new 3 degree of freedom operation piezomotor. Frequentive cheracteristics and ecliptical trajectory of contact points were also set in this project. Model of ultrasonic oscilatory system was developed and analysed by the programme ANSYS 6.1 using method of finite elements.

Im Landschaftszustand und in der Landschaftsentwicklung kommen funktionale Beziehungen zwischen dem naturbedingten Energie-, Wasser- und Stoffhaushalt einerseits und den Auswirkungen der Landnutzung andererseits zum Ausdruck. Gegenwärtig verändert der globale Anstieg der bodennahen Temperaturen vielerorts den landschaftlichen Energie-, Wasser- und Stoffhaushalt, wobei besonders in Trockengebieten zu erwarten ist, dass dieser Trend in Verbindung mit einer unangepassten Landnutzung das Regenerationsvermögen der Vegetation einschränkt und zur Zerstörung der Bodendecke führt.<br /> <br /> Für die Mongolei und für benachbarte Gebiete Asiens sind in Szenarien zur globalen Erwärmung hohe Werte des Temperaturanstiegs prognostiziert worden. Eine globale Einschätzung der anthropogen induzierten Bodendegradation hat diese Region als stark oder extrem stark betroffen eingestuft. Vor diesem Hintergrund wurde im Uvs-Nuur-Becken, das im Nordwesten der Mongolei und damit in einer der trockensten Regionen des Landes gelegen ist, untersucht, wie sich der globale Temperaturanstieg auf der lokalen und regionalen Ebene widerspiegelt und wie der Landschaftshaushalt dabei verändert wird.<br /> <br /> Die Auswirkungen des sommerlichen Witterungsverlaufes auf den Landschaftszustand sind 1997 bis 1999 an einem Transsekt erfasst worden, das sich zwischen dem Kharkhiraa-Gebirge am Westrand des Beckens und dem See Uvs Nuur im Beckeninneren von den Polsterfluren und Matten der alpinen Stufe über die Gebirgswaldsteppe, die Trockensteppe bis zur Halbwüste erstreckt. An neun Messpunkten wurden witterungsklimatische Daten in Verbindung mit Merkmalen der Vegetation, des Bodens und der Bodenfeuchte aufgenommen. Die im Sommer 1998 gewonnenen Messwerte wurden mit Hilfe einer Clusteranalyse gebündelt und verdichtet. Auf dieser Grundlage konnten landschaftliche Zustandsformen inhaltlich gekennzeichnet, zeitlich eingeordnet und durch Zeit-Verhaltens-Modelle (Stacks) abgebildet werden. Aus den Zeit-Verhaltens-Modellen wird ersichtlich, dass man Zustandsformen, in denen die Hitze und die Trockenheit des Sommers 1998 besonders stark zum Ausdruck kommen, an allen Messpunkten beobachten kann, nimmt man die Station auf dem fast 3.000 m hohen Gipfel des Khukh Uul sowie die grundwasserbeeinflusste Station in unmittelbarer Seenähe aus. In ihrer extremen Form sind Trockenperioden jedoch nur im Beckeninneren und am Fuß der Randgebirge, also in der Halbwüste, in der Trockensteppe und in der Wiesensteppe aufgetreten. Im Bergwald sowie im Bereich der alpinen Matten und Polsterfluren fehlen sie.<br /> <br /> Am stärksten sind die grundwasserfreien Bereiche der Halbwüste von der Hitze und Niederschlagsarmut des Sommers 1998 betroffen. An vier Fünfteln der Tage des Beobachtungszeitraumes herrscht an diesem Messpunkt extreme Trockenheit. Es fällt entweder gar kein Niederschlag oder nur so wenig, dass der seit dem Frühjahr erschöpfte Bodenwasservorrat nicht aufgefüllt wird. Das Verhältnis zwischen Niederschlag und potenzieller Verdunstung liegt hier bei 1:12.<br /> <br /> In der Halbwüste zeichnet sich eine fortschreitende Desertifikation ab, zumal hier eine nichtangepasste Weidenutzung dominiert, in der Ziegen eine immer größere Rolle spielen. Dies gilt insbesondere für Bereiche in Siedlungsnähe. Örtlich ist auch der Bestand der Trockensteppe gefährdet, die sich an die Halbwüste zum Beckenrand hin anschließt. Hier ist nicht nur die Viehdichte am höchsten, sondern hier werden auch die meisten unbefestigten Fahrwege wild angelegt und die Bodendecke damit zerstört. Dies kann im Endeffekt zu einem Übergreifen von Prozessen der Desertifikation führen.<br /> <br /> Aus methodischer Sicht zeigt sich, dass die Kennzeichnung landschaftlicher Zustandsformen durch Zeit-Verhaltens-Modelle die Ermittlung der Auswirkungen von Witterung und Klima auf den Landschaftszustand erleichtert, da sie deren Aussage konzentriert. Zur Interpretation der Ergebnisse ist jedoch ein Rückgriff auf die beschreibende Darstellung der Messwerte notwendig. Die im westlichen Uvs-Nuur-Becken und seinen Randgebirgen angewandte Verfahrensweise ermöglicht es, globale Aussagen zur globalen Erwärmung der Kontinente regional oder lokal zu überprüfen und zu untersetzen." / Landscape condition and landscape development express the functional relations between energy balance, water balance and material balance on the one hand and on the other hand they reflect the effects of land use. At present the global increase of near-surface air temperature changes the energy balance, water balance and material balance in many places. Especially in arid regions this trend and an inappropriate land use restrict the regeneration ability of vegetation and lead to the degradation of soil cover.<br /> <br /> Different scenarios for global warming prognosticate high values of increasing air temperature in Mongolia and its adjacent regions in Asia. A global estimation of anthropogenicly induced soil degradation classifies this region as strongly or extremely strong affected. Against this background a research was carried out in the Uvs Nuur Basin, placed in the northwest of Mongolia and therefore in one of the most arid regions of this country. The object of investigation was the reflection of the global increase of air temperature on a local and regional level and the resulting changes of landscape balance.<br /> <br /> From 1997 to 1999 the effects of changes in summer weather on the landscape condition were measured on a transect from the Kharkhiraa mountains at the western margin of the basin up to the lake Uvs at the centre of the basin. The transect included alpine mat, mountain steppe, dry steppe and semi desert. Climatic data was collected at 9 transect stations, in addition with characteristics of vegetation, soil and soil moisture. The data of summer 1998 was bundled and consolidated with a cluster analysis. On this basis forms of landscape condition could be evaluated in content, arranged chronologically and characterised by time performance models (stacks).<br /> <br /> The time performance models prove that forms of landscape condition marking the heat and the drought of summer 1998 can be found at every station of the transect except of the one on the summit of Khukh Uul at almost 3.000 m above sea level and another groundwater-influenced station at the bank of lake Uvs. However, extremely dry periods occur only from the centre of the basin up to the foothills, thus in the semi desert, the dry steppe and the short grass steppe. They do not occur in the mountain forest and in the alpine mat.<br /> <br /> Areas in the semi desert are most affected by drought and lack of precipitation during the summer 1998. Four fifths of the days in the measurement period are extremely droughty days. Either there is no precipitation at all or it is insufficient to fill up the soil water storage exhausted since spring-time. The relation of precipitation and potential evaporation averages out here at 1:12.<br /> <br /> A progressive desertification becomes apparent in the semi desert, particularly determined by an inappropriate land use in conjunction with an increasing goat-rearing in the area around the settlements. Partially this trend even affects the dry steppe in adjacency to the semi desert toward the margin of the basin. These areas are characterised not only by the highest stocking rate but also by the largest number of unofficial dirt roads thus leading to the denudation of the soil cover and finally to the spreading of desertification processes.<br /> <br /> From the methodical point of view it is obvious that the characterisation by time performance models facilitates the determination of weather and climate influence on landscape condition by summarising their information. However, the interpretation of the results has to be accomplished by a describing analysis of the measured data. The procedure applied in the western Uvs Nuur Basin and its adjacent mountains provides the opportunity to examine and substantiate the reports on global warming at regional or local level.